Substitution of branch names (#98) (#122)

* Revert "Add global_substitutions to fix github links (#85)"

This reverts commit fed3b2a.

* Use branch name substitution for all links

(cherry picked from commit 45005b5)

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

conf.py

@@ -83,7 +83,6 @@
     "sphinx_rtd_theme",
     "sphinx_multiversion",
     "sphinx_copybutton",
-    "sphinxcontrib.globalsubs",
     "generate_parameter_library"
 ]
 
@@ -312,18 +311,9 @@ def smv_rewrite_configs(app, config):
         app.config.html_baseurl = app.config.html_baseurl + "/" + distro + "/"
         app.config.project = "ROS2_Control: " + distro.title()
         app.config.html_logo = "images/logo_ros-controls.png"
-
-        # see https://github.com/missinglinkelectronics/sphinxcontrib-globalsubs
-        app.config.global_substitutions = {
-            'github_branch': branch,
-        }
     else:
         # If we are not building a multiversion build, default to the rolling logo
         app.config.html_logo = "images/logo_ros-controls.png"
-        # see https://github.com/missinglinkelectronics/sphinxcontrib-globalsubs
-        app.config.global_substitutions = {
-            'github_branch': 'master',
-        }
 
 
 def github_link_rewrite_branch(app, pagename, templatename, context, doctree):

doc/getting_started/getting_started.rst

@@ -19,8 +19,8 @@ If you want to install the framework from source, use the following commands in
 
 .. code:: bash
 
-   wget https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control.humble.repos
-   vcs import src < ros2_control.humble.repos
+   wget https://raw.githubusercontent.com/ros-controls/ros2_control/{REPOS_FILE_BRANCH}/ros2_control.{REPOS_FILE_BRANCH}.repos
+   vcs import src < ros2_control.{REPOS_FILE_BRANCH}.repos
 
 Architecture
 ============
@@ -33,7 +33,7 @@ Controller Manager
 The `Controller Manager`_ (CM) connects the controllers and hardware-abstraction sides of the ros2_control framework.
 It also serves as the entry-point for users via ROS services.
 The CM implements a node without an executor so that it can be integrated into a custom setup.
-However, it's usually recommended to use the default node-setup implemented in `ros2_control_node <https://github.com/ros-controls/ros2_control/blob/master/controller_manager/src/ros2_control_node.cpp>`_ file from the ``controller_manager`` package.
+However, it's usually recommended to use the default node-setup implemented in `ros2_control_node <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_manager/src/ros2_control_node.cpp>`_ file from the ``controller_manager`` package.
 This manual assumes that you use this default node-setup.
 
 On the one hand, CM manages (e.g. loads, activates, deactivates, unloads) controllers and the interfaces they require.
@@ -166,36 +166,26 @@ Running the Framework for Your Robot
 To run the ros2_control framework, do the following.
 The example files can be found in the `ros2_control_demos`_ repository.
 
-#. Create a YAML file with the configuration of the controller manager and two controllers. (`Example configuration for RRBot <https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_bringup/config/rrbot_controllers.yaml>`_)
+#. Create a YAML file with the configuration of the controller manager and two controllers. (`Example configuration for RRBot <https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_1/bringup/config/rrbot_controllers.yaml>`_)
 #. Extend the robot's URDF description with needed ``<ros2_control>`` tags.
-   It is recommended to use macro files (xacro) instead of pure URDF. (`Example URDF for RRBot <https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_description/rrbot_description/urdf/rrbot_system_position_only.urdf.xacro>`_)
+   It is recommended to use macro files (xacro) instead of pure URDF. (`Example URDF for RRBot <https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`_)
 #. Create a launch file to start the node with `Controller Manager`_.
    You can use a default `ros2_control node`_ (recommended) or integrate the controller manager in your software stack.
-   (`Example launch file for RRBot <https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_bringup/launch/rrbot_system_position_only.launch.py>`_)
+   (`Example launch file for RRBot <https://github.com/ros-controls/ros2_control_demos/blob/{REPOS_FILE_BRANCH}/example_1/bringup/launch/rrbot.launch.py>`_)
 
 *NOTE:* You could alternatively use a script to create setup a `skeleton of the "hardware_interface" package by using the scripts <https://stoglrobotics.github.io/ros_team_workspace/master/use-cases/ros2_control/setup_robot_hardware_interface.html>`_ provided by one of our maintainers.
 
 
 .. _ros2_control: https://github.com/ros-controls/ros2_control
 .. _ros2_controllers: https://github.com/ros-controls/ros2_controllers
-.. _control_msgs: https://github.com/ros-controls/control_msgs
-.. _realtime_tools: https://github.com/ros-controls/realtime_tools
-.. _control_toolbox: https://github.com/ros-controls/control_toolbox
 .. _ros2_control_demos: https://github.com/ros-controls/ros2_control_demos
 .. _controller_manager_msgs: https://github.com/ros-controls/ros2_control/tree/master/controller_manager_msgs
-.. _Controller Manager: https://github.com/ros-controls/ros2_control/blob/master/controller_manager/src/controller_manager.cpp
 .. _ControllerInterface: https://github.com/ros-controls/ros2_control/blob/master/controller_interface/include/controller_interface/controller_interface.hpp
 .. _ros2_control node: https://github.com/ros-controls/ros2_control/blob/master/controller_manager/src/ros2_control_node.cpp
 .. _ForwardCommandController implementation: https://github.com/ros-controls/ros2_controllers/blob/master/forward_command_controller/src/forward_command_controller.cpp
-.. _Resource Manager: https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/src/resource_manager.cpp
-.. _LifecycleNode-Class: https://github.com/ros2/rclcpp/blob/master/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
-.. _JointTrajectoryController: https://github.com/ros-controls/ros2_controllers/blob/master/joint_trajectory_controller/src/joint_trajectory_controller.cpp
-.. _Node Lifecycle Design: https://design.ros2.org/articles/node_lifecycle.html
 .. _ros2controlcli: https://github.com/ros-controls/ros2_control/tree/master/ros2controlcli
 .. _Hardware Access through Controllers design document: https://github.com/ros-controls/roadmap/blob/master/design_drafts/hardware_access.md
 .. _ROS 2 Control Components URDF Examples design document: https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md
-.. _roadmap: https://github.com/ros-controls/roadmap
-.. _ROS Discourse: https://discourse.ros.org
 
 .. |ros2_control_architecture| image:: images/components_architecture.png
    :alt: "ros2_control Architecture"

index.rst

@@ -73,15 +73,14 @@ General discussions
 .. _realtime_tools: https://github.com/ros-controls/realtime_tools
 .. _control_toolbox: https://github.com/ros-controls/control_toolbox
 .. _ros2_control_demos: https://github.com/ros-controls/ros2_control_demos
-.. _controller_manager_msgs: https://github.com/ros-controls/ros2_control/tree/master/controller_manager_msgs
-.. _Controller Manager: https://github.com/ros-controls/ros2_control/blob/master/controller_manager/src/controller_manager.cpp
-.. _ControllerInterface: https://github.com/ros-controls/ros2_control/blob/master/controller_interface/include/controller_interface/controller_interface.hpp
-.. _ros2_control node: https://github.com/ros-controls/ros2_control/blob/master/controller_manager/src/ros2_control_node.cpp
-.. _ForwardCommandController implementation: https://github.com/ros-controls/ros2_controllers/blob/master/forward_command_controller/src/forward_command_controller.cpp
-.. _Resource Manager: https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/src/resource_manager.cpp
-.. _JointTrajectoryController: https://github.com/ros-controls/ros2_controllers/blob/master/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+.. _controller_manager_msgs: https://github.com/ros-controls/ros2_control/tree/{REPOS_FILE_BRANCH}/controller_manager_msgs
+.. _Controller Manager: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_manager/src/controller_manager.cpp
+.. _ControllerInterface: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_interface/include/controller_interface/controller_interface.hpp
+.. _ros2_control node: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_manager/src/ros2_control_node.cpp
+
+.. _Resource Manager: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/src/resource_manager.cpp
 .. _Node Lifecycle Design: https://design.ros2.org/articles/node_lifecycle.html
-.. _ros2controlcli: https://github.com/ros-controls/ros2_control/tree/master/ros2controlcli
+.. _ros2controlcli: https://github.com/ros-controls/ros2_control/tree/{REPOS_FILE_BRANCH}/ros2controlcli
 .. _Hardware Access through Controllers design document: https://github.com/ros-controls/roadmap/blob/master/design_drafts/hardware_access.md
 .. _ROS2 Control Components URDF Examples design document: https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md
 .. _roadmap: https://github.com/ros-controls/roadmap

requirements.txt

@@ -2,4 +2,3 @@ sphinx
 sphinx-copybutton
 sphinx-multiversion
 sphinx_rtd_theme
-sphinxcontrib-globalsubs